scholarly journals Research on Double Inverted Pendulum System Base on Hierarchical Fuzzy Sliding-mode Decoupling Control Method

2017 ◽  
Author(s):  
Yinyin Zhao
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Sliding Mode ◽  
Decoupling Control ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Fuzzy Sliding Mode

The Research Based on Fuzzy Sliding Mode Control for Linear Double Inverted Pendulum

2014 ◽  
Vol 926-930 ◽  
pp. 1463-1467
Author(s):  
Li Ding ◽  
Shu Bo Qiu
Keyword(s):  
Sliding Mode Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Pendulum System ◽  
Structure Control ◽  
Inverted Pendulum System ◽  
Fuzzy Sliding Mode ◽  
Sliding Mode Variable Structure

This paper involves a linear double inverted pendulum system whose the state space model is established by Lagrange function. In order to solve the chattering problem of the conventional quasi-sliding mode variable structure control, this linear double inverted pendulum system applies the fuzzy control theory to adjust the parameterwhich is in the sliding mode variable structure control law. Then the fuzzy theory is utilized to design the sliding mode and deduce the fuzzy sliding mode reaching law. The significance of this method is that it diffuses the control signal, reduces or avoids the chattering phenomenon of sliding mode control. For the most, the simulation results show that the linear double inverted pendulum system based on fuzzy sliding mode variable structure control not only retains the strong robustness of sliding mode variable structure control, but also improves the dynamic quality of the system and weakens the buffeting of the system. Thus the method is proved to have certain research.

Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

2021 ◽  
Author(s):  
Omid Mofid ◽  
Khalid A Alattas ◽  
Saleh Mobayen
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Stability Control ◽  
Control Technique ◽  
Control Procedure ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Rotary Inverted Pendulum

Abstract In this paper, an adaptive proportional-integral-derivative (PID) sliding mode control method combined with super-twisting algorithm is designed for the stabilization control of rotary inverted pendulum system in the appearance of exterior perturbation. The state-space model of rotary inverted pendulum in the presence of exterior disturbance is obtained. Then, the super-twisting PID sliding mode controller is designed for finite time stability control of this underactuated control system. The upper bounds of perturbation are presumed to be unknown; accordingly, the adaptive control procedure is taken to approximate the uncertain bound of the external disturbances. The stability control of rotary inverted pendulum system is proved by means of the Lyapunov stability theory. In order to validate accuracy and efficiency of the recommended control technique, some simulation outcomes are prepared and compared with other existing method. Moreover, experimental results are implemented to show the success of the proposed method.

A self-tuning fuzzy inference sliding mode control scheme for a class of nonlinear systems

2011 ◽  
Vol 18 (10) ◽  
pp. 1494-1505 ◽  
Author(s):  
Djamel Eddine Chaouch ◽  
Zoubir Ahmed-Foitih ◽  
Med Fayçal Khelfi
Keyword(s):  
Sliding Mode Control ◽  
Inverted Pendulum ◽  
Fuzzy Inference ◽  
Control Method ◽  
Sliding Mode ◽  
Pendulum System ◽  
Mode Control ◽  
Inverted Pendulum System ◽  
Control Scheme ◽  
Self Tuning

A self-tuning fuzzy inference sliding mode control method is presented for single inverted pendulum position tracking control. Sliding mode control is a special nonlinear control method which has a quick response, is insensitive to parameters’ variation and disturbance; and is very suitable for nonlinear system control. Neuro-fuzzy logic systems are used to directly generate the "equivalent control term". In this case, a neuro-fuzzy system was described as a self-tuning fuzzy inference system optimized online using Takagi-Sygeno type of rules and a back-propagation algorithm to minimize a cost function. The cost function is made up of a quadratic error term and a weight decay term that prevents an excessive growth of parameters. The definition of sliding mode control was presented, and on the basis of the inverted pendulum system the sliding mode controller was designed. Stability of the proposed control scheme is proved by the Lyapunov theorem and the control scheme is applied to an inverted pendulum system. Simulation studies show that the method is effective and can be applied to a nonlinear control system.

Adaptive Fuzzy Sliding Mode Control for Uncertain Inverted Pendulum System

2013 ◽  
Vol 273 ◽  
pp. 683-688
Author(s):  
Jiao Long Zhang ◽  
Wei Zhang
Keyword(s):  
Sliding Mode Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Pendulum System ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Inverted Pendulum System ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
The Impact

Firstly, the mathematical model of inverted pendulum system is created. Taking into account the uncertainty of inverted pendulum system external disturbances, adaptive fuzzy sliding mode controller is proposed with sliding mode control (SMC) theory and fuzzy logic theory. This controller can weaken the impact of uncertainty through fuzzification of the switching gain, Owing to Fuzzy approximation of the inverted pendulum system equations for an inverted pendulum with unknown parameters, this system achieve the adaptive control and optimize the control action. Secondly, inverted pendulum system has the features which SMC can keep invariance to the external disturbance and parameter perturbation. Lyapunov function is used to prove the stability of the controller. Simulation results also show that this controller can ensure inverted pendulum system fast response and robustness in the SIMULINK conditions.

DESIGN OF ADAPTIVE FUZZY SLIDING MODE CONTROL FOR NONLINEAR SYSTEMS

1999 ◽  
Vol 07 (05) ◽  
pp. 463-474 ◽  
Author(s):  
JEN-YANG CHEN
Keyword(s):  
Sliding Mode ◽  
Membership Functions ◽  
System Specification ◽  
Pendulum System ◽  
Control Rules ◽  
Inverted Pendulum System ◽  
Equivalent Control ◽  
Fuzzy Sliding Mode ◽  
The Stability ◽  
The Individual

In this paper, a fuzzy sliding mode controller (FSMC), which is synthesized by a collection of linguistic control rules whose membership functions of THEN-part is adapted, is proposed. Both the membership functions of IF-part and THEN-part are arranged symmetrically and distributed equally in the individual universe of discourse. In particular, the membership functions of the THEN-part can be adapted via one parameter adaptation to meet the required system specification. The proposed direct adaptive FSMC can be synthesized through the following stages. First, the control rules are constructed according to the concepts of SMC, and the fuzzy sets whose membership functions are symmetrically covered in state space. Then, the derived adaptive law is used to adjust the membership functions of the THEN-part. The FSMC is employed to approximate the equivalent control of SMC without knowing the mathematical model of the controlled system. Third, a hitting control is developed to guarantee the stability of the control system. Finally, we apply this FSMC to control a nonlinear inverted pendulum system for confirming the validity of the proposed approach.

scholarly journals Design of hybrid sliding mode controller based on fireworks algorithm for nonlinear inverted pendulum systems

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668427 ◽  
Author(s):  
Te-Jen Su ◽  
Shih-Ming Wang ◽  
Tsung-Ying Li ◽  
Sung-Tsun Shih ◽  
Van-Manh Hoang
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Sliding Mode Controller ◽  
Proportional Integral Derivative ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Fireworks Algorithm ◽  
Simulation Process ◽  
Inverted Pendulum System

The objective of this article is to optimize parameters of a hybrid sliding mode controller based on fireworks algorithm for a nonlinear inverted pendulum system. The proposed controller is a combination of two modified types of the classical sliding mode controller, namely, baseline sliding mode controller and fast output sampling discrete sliding mode controller. The simulation process is carried out with MATLAB/Simulink. The results are compared with a published hybrid method using proportional–integral–derivative and linear quadratic regulator controllers. The simulation results show a better performance of the proposed controller.

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